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   <div id="projectname">gbmath
   &#160;<span id="projectnumber">v0.051</span>
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   <div id="projectbrief">c++ math library</div>
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<div class="title">euler_angles.h</div>  </div>
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<a href="euler__angles_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;﻿</div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#ifndef __GBMATH_H__</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor"></span><span class="preprocessor">    #error  DO NOT INCLUDE THIS FILE. USE:   #include &lt;gbmath/_gbmath.h&gt;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>gbmath</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;{</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div>
<div class="line"><a name="l00022"></a><span class="lineno"><a class="code" href="classgbmath_1_1euler__angles.html">   22</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classgbmath_1_1euler__angles.html" title="Ehler angles. Angles of rotation along all three axes. ">euler_angles</a> </div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    {</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    </div>
<div class="line"><a name="l00026"></a><span class="lineno"><a class="code" href="classgbmath_1_1euler__angles.html#af37e794547bf0e12895ded562d3e692d">   26</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classgbmath_1_1euler__angles.html#af37e794547bf0e12895ded562d3e692d" title="Yaw around the y-axis, in radians. ">yaw</a>;    </div>
<div class="line"><a name="l00027"></a><span class="lineno"><a class="code" href="classgbmath_1_1euler__angles.html#ac57fdf74e2436300b583140846581f76">   27</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classgbmath_1_1euler__angles.html#ac57fdf74e2436300b583140846581f76" title="Pitch around the x-axis, in radians. ">pitch</a>;  </div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="code" href="classgbmath_1_1euler__angles.html#abc5b7aa0a0bd56ce1b107bf2908392a4">   28</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classgbmath_1_1euler__angles.html#abc5b7aa0a0bd56ce1b107bf2908392a4" title="Roll around the z-axis, in radians. ">roll</a>;   </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div>
<div class="line"><a name="l00030"></a><span class="lineno"><a class="code" href="classgbmath_1_1euler__angles.html#ace909dfb03e0f81dcf66e9fea4bc8aa2">   30</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1euler__angles.html#ace909dfb03e0f81dcf66e9fea4bc8aa2">euler_angles</a>()</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        {</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;            <a class="code" href="classgbmath_1_1euler__angles.html#af37e794547bf0e12895ded562d3e692d" title="Yaw around the y-axis, in radians. ">yaw</a> = <a class="code" href="classgbmath_1_1euler__angles.html#ac57fdf74e2436300b583140846581f76" title="Pitch around the x-axis, in radians. ">pitch</a> = <a class="code" href="classgbmath_1_1euler__angles.html#abc5b7aa0a0bd56ce1b107bf2908392a4" title="Roll around the z-axis, in radians. ">roll</a> = 0.0f;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        }</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div>
<div class="line"><a name="l00035"></a><span class="lineno"><a class="code" href="classgbmath_1_1euler__angles.html#a817fa6e65b6594b5452f21865997332e">   35</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1euler__angles.html#a817fa6e65b6594b5452f21865997332e">euler_angles</a>(<span class="keyword">const</span> <a class="code" href="classgbmath_1_1euler__angles.html" title="Ehler angles. Angles of rotation along all three axes. ">euler_angles</a>&amp; ea  )</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;        {</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;            <a class="code" href="classgbmath_1_1euler__angles.html#af37e794547bf0e12895ded562d3e692d" title="Yaw around the y-axis, in radians. ">yaw</a>   = ea.<a class="code" href="classgbmath_1_1euler__angles.html#af37e794547bf0e12895ded562d3e692d" title="Yaw around the y-axis, in radians. ">yaw</a>;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;            <a class="code" href="classgbmath_1_1euler__angles.html#ac57fdf74e2436300b583140846581f76" title="Pitch around the x-axis, in radians. ">pitch</a> = ea.<a class="code" href="classgbmath_1_1euler__angles.html#ac57fdf74e2436300b583140846581f76" title="Pitch around the x-axis, in radians. ">pitch</a>;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;            <a class="code" href="classgbmath_1_1euler__angles.html#abc5b7aa0a0bd56ce1b107bf2908392a4" title="Roll around the z-axis, in radians. ">roll</a>  = ea.<a class="code" href="classgbmath_1_1euler__angles.html#abc5b7aa0a0bd56ce1b107bf2908392a4" title="Roll around the z-axis, in radians. ">roll</a>;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        }</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div>
<div class="line"><a name="l00042"></a><span class="lineno"><a class="code" href="classgbmath_1_1euler__angles.html#a70919649acdf4f85ebbb90f40af8c189">   42</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classgbmath_1_1euler__angles.html#a70919649acdf4f85ebbb90f40af8c189">euler_angles</a>(<span class="keywordtype">float</span> _yaw, <span class="keywordtype">float</span> _pitch, <span class="keywordtype">float</span> _roll)</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        {</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;            <a class="code" href="classgbmath_1_1euler__angles.html#af37e794547bf0e12895ded562d3e692d" title="Yaw around the y-axis, in radians. ">yaw</a>   = _yaw;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;            <a class="code" href="classgbmath_1_1euler__angles.html#ac57fdf74e2436300b583140846581f76" title="Pitch around the x-axis, in radians. ">pitch</a> = _pitch;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;            <a class="code" href="classgbmath_1_1euler__angles.html#abc5b7aa0a0bd56ce1b107bf2908392a4" title="Roll around the z-axis, in radians. ">roll</a>  = _roll;</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        }</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="code" href="classgbmath_1_1euler__angles.html#a0964dd05d30deff9c438ca9a14e01033">   50</a></span>&#160;        <span class="keyword">friend</span> std::ostream &amp;<a class="code" href="classgbmath_1_1euler__angles.html#a0964dd05d30deff9c438ca9a14e01033">operator &lt;&lt; </a>(std::ostream &amp;stream, <span class="keyword">const</span> <a class="code" href="classgbmath_1_1euler__angles.html" title="Ehler angles. Angles of rotation along all three axes. ">euler_angles</a>&amp; ea)</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        {</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;            stream &lt;&lt; ea.<a class="code" href="classgbmath_1_1euler__angles.html#af37e794547bf0e12895ded562d3e692d" title="Yaw around the y-axis, in radians. ">yaw</a> &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; ea.<a class="code" href="classgbmath_1_1euler__angles.html#ac57fdf74e2436300b583140846581f76" title="Pitch around the x-axis, in radians. ">pitch</a> &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; ea.<a class="code" href="classgbmath_1_1euler__angles.html#abc5b7aa0a0bd56ce1b107bf2908392a4" title="Roll around the z-axis, in radians. ">roll</a> ;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;            <span class="keywordflow">return</span> stream;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        }</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="code" href="classgbmath_1_1euler__angles.html#ad4711e3247c09e6f2d2ee9a981d9f044">   56</a></span>&#160;        <span class="keyword">operator</span> std::string()<span class="keyword"> const</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;            std::ostringstream ss;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;            ss &lt;&lt; <a class="code" href="classgbmath_1_1euler__angles.html#af37e794547bf0e12895ded562d3e692d" title="Yaw around the y-axis, in radians. ">yaw</a> &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; <a class="code" href="classgbmath_1_1euler__angles.html#ac57fdf74e2436300b583140846581f76" title="Pitch around the x-axis, in radians. ">pitch</a> &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; <a class="code" href="classgbmath_1_1euler__angles.html#abc5b7aa0a0bd56ce1b107bf2908392a4" title="Roll around the z-axis, in radians. ">roll</a> ;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;            <span class="keywordflow">return</span> ss.str();</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        }</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="code" href="classgbmath_1_1euler__angles.html#af1f4993475d1c58296d95ecb50f3566f">   63</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classgbmath_1_1euler__angles.html#af1f4993475d1c58296d95ecb50f3566f">operator = </a>(<span class="keyword">const</span> std::string&amp; str) <span class="keywordflow">throw</span> (std::invalid_argument)</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;            std::istringstream ss(str);</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;            ss &gt;&gt; <a class="code" href="classgbmath_1_1euler__angles.html#af37e794547bf0e12895ded562d3e692d" title="Yaw around the y-axis, in radians. ">yaw</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;            ss &gt;&gt; <a class="code" href="classgbmath_1_1euler__angles.html#ac57fdf74e2436300b583140846581f76" title="Pitch around the x-axis, in radians. ">pitch</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;            ss &gt;&gt; <a class="code" href="classgbmath_1_1euler__angles.html#abc5b7aa0a0bd56ce1b107bf2908392a4" title="Roll around the z-axis, in radians. ">roll</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;            <span class="keywordflow">if</span>( ss.fail() )</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;            {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                <span class="keywordflow">throw</span> std::invalid_argument(<span class="stringliteral">&quot;bad input string&quot;</span>);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;            }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        }</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    };</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;}</div>
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